METHOD FOR CHECKING AN EFFECT CHAIN

Abstract

A method for checking an effect chain, which includes multiple components, for an infrastructure-based, at least semiautomated control of a motor vehicle within an infrastructure. The method includes: receiving state signals which represent a state of the effect chain, setting up at least one digital twin of the components of the effect chain based on the state signals, checking the effect chain with the aid of the at least one digital twin to determine whether the effect chain is suitable for an infrastructure-based, at least semiautomated control of a motor vehicle, determining whether the effect chain is suitable for an infrastructure-based, at least semiautomated control of a motor vehicle within the infrastructure based on the check.

Claims

1. A method for checking an effect chain, which includes multiple components, for an infrastructure-based, at least semiautomatic control of a motor vehicle within an infrastructure, the method comprising the following steps: receiving state signals which represent a state of the effect chain; setting up at least one digital twin of the components of the effect chain based on the state signals; checking the effect chain using the at least one digital twin to determine whether the effect chain is suitable for the infrastructure-based, at least semiautomated control of the motor vehicle; and determining whether the effect chain is suitable for the infrastructure-based, at least semiautomated control of the motor vehicle within the infrastructure, based on the check.

2. The method as recited in claim 1, wherein setting up the at least one digital twin includes setting up an individual digital twin for a component of the effect chain and/or setting up a digital twin jointly for multiple components of the effect chain.

3. The method as recited in claim 1, wherein the check includes checking whether the effect chain as a whole and/or one or more components of the effect chain satisfies a predetermined safety integrity level.

4. The method as recited in claim 3, wherein the predetermined safety level is an ASIL and/or a SIL.

5. The method as recited in claim 1, wherein weather signals are received which represent a weather of the infrastructure, and the checking of the effect chain is carried out based on the weather signals.

6. The method as recited in claim 5, wherein a digital weather twin of the weather is set up based on the weather signals, and the check of the effect chain is carried out based on the digital weather twin.

7. The method as recited in claim 5, wherein the weather is integrated into an already prepared digital twin of the components of the effect chain.

8. The method as recited in claim 1, wherein map signals are received which represent a digital map of the infrastructure, and the check of the effect chain is carried out based on the digital map.

9. The method as recited in claim 8, wherein a digital map twin is set up based on the map signals, and the check of the effect chain is carried out based on the digital map twin.

10. The method as recited in claim 8, wherein the digital map is integrated into an already prepared digital twin of the components of the effect chain.

11. The method as recited in claim 1, wherein the multiple components each include an element selected from the following group of components: an environment sensor, a communication device, a motor vehicle, a control device of the motor vehicle, an actuator of the motor vehicle, a traffic light system of the infrastructure, an electronic traffic sign of the infrastructure, an infrastructure-side computer configured to calculate infrastructure assistance data based on which the motor vehicle is able to be controlled in an at least semiautomated manner, a traffic light system of the infrastructure, a barrier of the infrastructure.

12. The method as recited in claim 1, wherein the state includes one or more of the following state parameters: a type of component, a characteristic of a component including safety integrity level it satisfies including an ASIL and/or SIL, a capacity utilization of a component including a memory, processing time, maintenance data of a component which indicate a date of the most recent maintenance; operating data of the component which indicate whether or not the component is in operation, history data of the component which describe a history of the component, prediction data of a component which describe a predicted state of the component.

13. The method as recited in claim 1, wherein the infrastructure has one or more of the following infrastructure elements: a parking lot, a tunnel, an expressway on-ramp, an expressway off-ramp, a hub, in particular a traffic circle, an intersection, a junction, a T-intersection, a zebra crossing, a construction site, a bridge, a tunnel, a toll collection site, a parking garage.

14. The method as recited in claim 1, wherein temporally after receipt of state signals which represent a state of the effect chain, temporally later state signals, which represent a state of the effect chain at a later point in time, are received at a later time, and the at least one prepared digital twin is updated based on the temporally later state signals, the effect chain being checked using the at least one updated digital twin to determine whether the effect chain is suitable for an infrastructure-based, at least semiautomated control of a motor vehicle, and based on the check using the at least one updated digital twin, it is determined anew whether the effect chain is suitable for an infrastructure-based, at least semiautomated control of a motor vehicle within the infrastructure.

15. A device configured to check an effect chain, which includes multiple components, for an infrastructure-based, at least semiautomatic control of a motor vehicle within an infrastructure, the device configured to: receive state signals which represent a state of the effect chain; set up at least one digital twin of the components of the effect chain based on the state signals; check the effect chain using the at least one digital twin to determine whether the effect chain is suitable for the infrastructure-based, at least semiautomated control of the motor vehicle; and determine whether the effect chain is suitable for the infrastructure-based, at least semiautomated control of the motor vehicle within the infrastructure, based on the check.

16. A non-transitory machine-readable memory medium on which is stored a computer program including instructions for checking an effect chain, which includes multiple components, for an infrastructure-based, at least semiautomatic control of a motor vehicle within an infrastructure, the instructions, when executed by a computer, causing the computer to perform the following steps: receiving state signals which represent a state of the effect chain; setting up at least one digital twin of the components of the effect chain based on the state signals; checking the effect chain using the at least one digital twin to determine whether the effect chain is suitable for the infrastructure-based, at least semiautomated control of the motor vehicle; and determining whether the effect chain is suitable for the infrastructure-based, at least semiautomated control of the motor vehicle within the infrastructure, based on the check.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0093] FIG. 1 shows a flow diagram of an example method according to the first aspect of the present invention.

[0094] FIG. 2 shows an example device according to the second aspect of the present invention.

[0095] FIG. 3 shows a machine-readable memory medium according to the fourth aspect of the present invention.

[0096] FIGS. 4-8 each shows a digital twin in each case.

[0097] In the following text, the same reference numerals may be used for identical features.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0098] FIG. 1 shows a flow diagram of a method for checking an effect chain, which includes multiple components, for an infrastructure-based, at least semiautomatic control of a motor vehicle within an infrastructure, the method including the following steps: [0099] Receiving 101 state signals, which represent a state of the effect chain, [0100] setting up 103 at least one digital twin of the components of the effect chain based on the state signals, [0101] checking 105 the effect chain with the aid of the at least one digital twin to determine whether the effect chain is suitable for an infrastructure-based, at least semiautomatic control of a motor vehicle, [0102] determining 107 whether the effect chain is suitable for an infrastructure-based, at least semiautomated control of a motor vehicle within the infrastructure based on the check.

[0103] For example, it is determined that the effect chain is unsuitable for an infrastructure-based, at least semiautomated control of a motor vehicle if the check has revealed that the effect chain is not suitable. It is determined that the effect chain is suitable, for instance, if the check has revealed that the effect chain is suitable.

[0104] FIG. 2 shows a device 201, which is designed to execute all steps of the method according to the first aspect.

[0105] FIG. 3 shows a machine-readable memory medium 301 on which a computer program 303 is stored. Computer program 303 includes instructions that when a computer executes computer program 303, the computer is induced to execute a method according to the first aspect.

[0106] FIG. 4 shows an infrastructure 401 within which a motor vehicle 403 is driving in an at least semiautomated manner. Motor vehicle 403 is driving on a road 404 which is part of infrastructure 401.

[0107] Disposed within infrastructure 401 are multiple components 405, 406, 407, 409, 411 and 413 of an effect chain 414 for an infrastructure-based, at least semiautomated control of a motor vehicle.

[0108] In detail, component 405 is a computer which is designed to ascertain infrastructure assistance data for an infrastructure-based, at least semiautomated control of a motor vehicle 403 within infrastructure 401, and component 406 is an electronic traffic sign, and component 407 is a video camera which includes an in image sensor (not shown), and component 409 is a further video camera which includes another image sensor (not shown), and component 411 is a cloud infrastructure in which multiple components 413 of effect chain 414 are implemented. These further components 413 may involve a computer, a server, a database, and/or a communication interface, for instance.

[0109] Motor vehicle 403 also includes components 415 of effect chain 414. These components 415, for instance, include a control device, a main control device, a communication interface, and/or environment sensors of motor vehicle 403.

[0110] This means that effect chain 414 is partially implemented in infrastructure 401 and partially in motor vehicle 403. This applies in general, that is, also unrelated to the exemplary embodiment illustrated in FIG. 4.

[0111] A digital twin 417 of motor vehicle 403 is now set up and a digital twin 419 of infrastructure 401, infrastructure 401 being symbolically represented by video camera 407 in the figures.

[0112] For instance, it is provided that data from the real world are integrated into the respective digital twin 417, 419, i.e., as input data. And it is provided, for instance, that data from the respective digital twin 417, 419 flow back into the real world. This exchange between the real world and the virtual world is symbolically denoted by a double arrow bearing the reference numeral 420.

[0113] In addition, a plurality of wave-shaped and arc-shaped symbols is denoted by reference numeral 421 in FIG. 4, which is meant to symbolically represent a communication between motor vehicle 403 and infrastructure 401. This communication, that is, the communication link, is also part of effect chain 414.

[0114] According to FIG. 4, this communication link 421 is also integrated into digital twin 419 of infrastructure 401.

[0115] FIG. 5 shows an embodiment according to which this communication link is imaged as its own digital twin 501 in the virtual world. Here, the communication link is denoted by a symbol bearing the reference numeral 503, which is to symbolize an antenna.

[0116] Although not illustrated, a data exchange between digital twin 501 and the real world is also able to take place.

[0117] FIG. 6 shows a digital twin 601, which images motor vehicle 403 and infrastructure 401.

[0118] In addition, two further digital twins 603 and 605 are illustrated in FIG. 6, digital twin 603 imaging motor vehicle 403 and digital twin 605 imaging infrastructure 401, symbolically represented by video camera 407.

[0119] Thus, it may be provided that a separate digital twin is set up for each component of the effect chain, and it may be provided, for instance, that multiple components of the effect chain are jointly combined in a digital twin or are imaged by this digital twin.

[0120] FIG. 7 shows a plurality of digital twins: a first digital twin 701, a second digital twin 703, a third digital twin 705, a fourth digital twin 707, and a fifth digital twin 709. These five digital twins 701, 703, 705, 707, 709 are able to interact with one another, that is, communicate with one another, which is symbolically represented by a double arrow bearing the reference numeral 711.

[0121] First digital twin 701 images the infrastructure, second digital twin 703 images the motor vehicle, and third digital twin 705 is a digital map twin. Fourth digital twin 707 is a digital weather twin. Fifth digital twin 709 is a further digital twin, for instance a digital twin of a road of the infrastructure together with a condition of the road.

[0122] FIG. 8 show a digital twin 801, which images the motor vehicle. Digital twin 801, for example, images components of the motor vehicle. These components have the following reference numerals: 803, 805, 807, 809, 811.

[0123] For instance, component 803 is a main control device of the motor vehicle. Component 805, for example, is a fusion module of the motor vehicle in which a data fusion of environment sensor data from environment sensors of the motor vehicle is performed. Components 80 which are encompassed by fusion module 805, for example, are a processor, a memory, an interface with further components of the motor vehicle.

[0124] Component 807, for instance, is a communication interface of the motor vehicle. Components 811 of the communication interface, for example, include an antenna and/or a software model based on which a communication is able to be carried out.

[0125] The motor vehicle communicates with an infrastructure (not shown) by way of a communication link 813. This communication link 813 may be part of an effect chain for an infrastructure-based, at least semiautomated control, for example.

[0126] It is provided that the state signals, which represent the state of the effect chain, include information about the fusion module, for instance. Such information, for example, includes a capacity utilization of the memory, a processing time, a safety integrity level of the fusion module, and information indicating since when the fusion module has been in operation.

[0127] This advantageously makes it possible for fusion module 805 to be virtually imaged or represented by a digital twin in an efficient manner.

[0128] In summary, instead of checking the effect chain for an infrastructure-based, at least semiautomated control of a motor vehicle within an infrastructure in reality, the described concept is particularly based on checking it in the virtual world. The check can ensure that the conditions that must exist for an infrastructure-based, at least semiautomated control of a motor vehicle within an infrastructure are satisfied.

[0129] It is provided that the components of the effect chain with their current characteristics are imaged or stored as a digital twin or as a plurality of digital twins, e.g., stored in one or in multiple database(s).

[0130] This means that one or more digital twin(s) exit(s), which is/are a virtual image of the effect chain.

[0131] For instance, it is provided that the digital twins are updated on a continuous basis.

[0132] It is ensured, for example, that for the current instant, i.e., for the current planning of an infrastructure-based, at least semiautomated control of a motor vehicle within the infrastructure, and/or for a planning in the future, this control is able to be executed or carried out in a safe manner in the sense of the specification.

[0133] The digital twin or the digital twins image(s) a system state, in particular a current state, which, for instance, is defined and current for the effect chain, in particular for the entire effect chain including all associated components and their characteristics and states.